Multi-degree-of-freedom controllable mechanism type branch pruning mechanical hand

Abstract

The invention discloses a multi-degree-of-freedom controllable mechanism type branch pruning mechanical hand. One end of a first connection rod is connected to a machine frame, the other end of the first connection rod is connected with one end of a second connection rod, the other end of the second connection rod is connected to a rear half section of a telescopic rod, one end of a third connection rod is connected to the machine frame, the other end of the third connection rod is connected with one end of a fourth connection rod, the other end of the fourth connection rod is connected with one end of a fifth connection rod, the other end of the fifth connection rod is connected with the first corner of a first triangular connector, the second corner of the first triangular connector is connected with one end of a sixth connection rod, the other end of the sixth connection rod is connected with the rear half section of the telescopic rod, and multiple parallel-connection closed loop subchains are formed through connection of a seventh connection rod, an eighth connection rod, a ninth connection rod, a tenth connection rod, an eleventh connection rod, a twelfth connection rod and a thirteenth connection rod. The multi-degree-of-freedom controllable mechanism type branch pruning mechanical hand has the advantages of being free of accumulation error, high in precision, compact in structure, large in bearing capacity, high in rigidity, small in end effector inertia and the like.

Description

Technical field [0001] The invention relates to the field of machinery, in particular to a multi-degree-of-freedom controllable mechanism branch pruning manipulator. Background technique [0002] Controllable mechanism is the frontier field of modern mechanism research. It has many advantages such as good flexibility, high output motion accuracy, fast running speed, strong bearing capacity, etc. Controllable mechanisms include adjustable mechanisms, variable input mechanisms, and hybrid drive mechanisms. The input mechanism means that the drive device of the single degree of freedom mechanism is replaced by a microcomputer-controlled servo motor to improve the motion characteristics of the follower. The hybrid input mechanism is driven by motors of different properties (constant motors and servo motors). There is a good compromise between mechanical performance and cost to adapt to the characteristics of working flexibility, which can well meet the controllable and adjustable req...

AI Technical Summary

Problems solved by technology

[0003] With the development of motor technology and the improvement of control technology, the controllable mechanism provides a broad development space for construction machinery. The multi-degree-of-freedom controllable mechanism driven by the control motor not only has a large working space, flexible actions, and can complete complex and controllable structures. Variable motion trajectory output, and also has the advantages of low manufacturing cost and simple maintenance. The controllable mechanism excavator replaces the hydraulic transmission with a multi-degree-of-freedom linkage mechanism, which avoids the high machining accuracy of the hydraulic system and the maintenance cost. High, easy to cause oil leakage and other problems, and other excavator machines generally install the motor at the joint, which will lead to large moment of inertia of the excavator working device, easy to generate residual vibration, poor dynamic performance, and low transmission efficiency

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